icl::markers::MultiCamFiducialImpl Struct Reference

Internal Implementation class for the MutiCamFiducial. More...

#include <MultiCamFiducialImpl.h>

List of all members.

Public Member Functions
	MultiCamFiducialImpl ()
	null/empty constructor
	MultiCamFiducialImpl (int id, const std::vector< Fiducial > &fids, const std::vector< geom::Camera * > cams)
	default constructor with given ID
void	init (int id)
	(re-) initialization
const math::FixedColVector < float, 3 > &	estimateCenter3D ()
	estimate and return the 3D center
const geom::Mat &	estimatePose3D ()
	estimate and return the 3D pose
const math::FixedColVector < float, 3 > &	estimateOrientation3D ()
	estimate and return the 3D orientation
Public Attributes
int	id
	associated fiducial ID
int	numFound
	number of view, this Fiducial was found in
std::vector< Fiducial >	fids
	all 2D fiducials
std::vector< geom::Camera * >	cams
	all cameras
math::FixedColVector< float, 3 >	center
	smart buffer for the center
math::FixedColVector< float, 3 >	orientation
	smart buffer for the orientation
geom::Mat	pose
	smart buffer for the pose
bool	haveCenter
	has the center already been estimated
bool	haveOrientation
	has the orientation already been estimated
bool	havePose
	has the pose already been estimated

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Detailed Description

Internal Implementation class for the MutiCamFiducial.

Smart Buffering

The 3D pose estimation results are buffered internally so that mutiple calls to MutiCamFiducial::getPose3D do not entail doubled pose estimation.

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Constructor & Destructor Documentation

icl::markers::MultiCamFiducialImpl::MultiCamFiducialImpl

(

)

null/empty constructor

icl::markers::MultiCamFiducialImpl::MultiCamFiducialImpl	(	int	id,
		const std::vector< Fiducial > &	fids,
		const std::vector< geom::Camera * >	cams
	)

default constructor with given ID

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Member Function Documentation

const math::FixedColVector<float,3>& icl::markers::MultiCamFiducialImpl::estimateCenter3D

(

)

estimate and return the 3D center

const math::FixedColVector<float,3>& icl::markers::MultiCamFiducialImpl::estimateOrientation3D

(

)

estimate and return the 3D orientation

const geom::Mat& icl::markers::MultiCamFiducialImpl::estimatePose3D

(

)

estimate and return the 3D pose

void icl::markers::MultiCamFiducialImpl::init

(

int

id

)

(re-) initialization

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Member Data Documentation

std::vector<geom::Camera*> icl::markers::MultiCamFiducialImpl::cams

all cameras

math::FixedColVector<float,3> icl::markers::MultiCamFiducialImpl::center

smart buffer for the center

std::vector<Fiducial> icl::markers::MultiCamFiducialImpl::fids

all 2D fiducials

bool icl::markers::MultiCamFiducialImpl::haveCenter

has the center already been estimated

bool icl::markers::MultiCamFiducialImpl::haveOrientation

has the orientation already been estimated

bool icl::markers::MultiCamFiducialImpl::havePose

has the pose already been estimated

int icl::markers::MultiCamFiducialImpl::id

associated fiducial ID

int icl::markers::MultiCamFiducialImpl::numFound

number of view, this Fiducial was found in

math::FixedColVector<float,3> icl::markers::MultiCamFiducialImpl::orientation

smart buffer for the orientation

geom::Mat icl::markers::MultiCamFiducialImpl::pose

smart buffer for the pose

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The documentation for this struct was generated from the following file:

• /home/jenkins/workspace/icl-manual-trunk/icl-manual/ICLMarkers/src/ICLMarkers/MultiCamFiducialImpl.h